Carrying manipulator and carrying system

Abstract

The utility model relates to a carrying manipulator and a carrying system, comprising a stand column which comprises a fixed stand column and a rotating stand column, and the rotating stand column is coaxially connected to the fixed stand column and can rotate relative to the fixed stand column; the mechanical arm comprises a main arm, an auxiliary arm and a rotating arm, the middle position of the main arm is rotationally connected to the rotating stand column, one end of the auxiliary arm is rotationally connected with one end of the main arm, and one end of the rotating arm is rotationally connected with the end, away from the main arm, of the auxiliary arm; the clamping jaw is rotationally connected to the end, away from the auxiliary arm, of the rotating arm; the driving source comprises a first driving source and a second driving source which are respectively used for driving the main arm and the clamping jaw to rotate around respective rotating connection points; and the handle is connected to the rotating arm. The clamping jaw of the carrying manipulator can be adjusted in a multi-degree-of-freedom mode and can be turned over, and the carrying manipulator can adapt to clamping and transferring of materials with different placement angles.

Description

Technical Field

[0001] The utility model relates to the technical field of handling devices, in particular to a handling manipulator and a handling system. Background Art

[0002] In industrial production, transfer equipment is often needed to transfer products or production materials. Common transfer equipment includes cranes, manipulators, etc. Power manipulators are a type of power-assisted equipment used for material handling. They can move objects in a balanced manner within a space at a set distance and orientation. Skilled manual operation can easily and correctly place heavy objects at a specified location in space.

[0003] During the camshaft production process, the camshaft needs to be transferred by a power-assisted manipulator. However, the existing power-assisted manipulator has limited freedom and has certain requirements on the posture of the camshaft when it is incoming. Otherwise, the power-assisted manipulator will not be able to clamp and transfer the camshaft smoothly. This will impose certain restrictions on the layout of the production line and invisibly increase the design and installation costs of the production equipment. Utility Model Content

[0004] To this end, the technical problem to be solved by the utility model is to overcome the problem in the prior art that during the camshaft production process, the camshaft needs to be transported by a power-assisted manipulator, but the existing power-assisted manipulator has limited freedom and has certain requirements on the posture of the camshaft when it is incoming, otherwise the power-assisted manipulator cannot smoothly clamp and transport the camshaft, which imposes certain restrictions on the layout of the production line and invisibly increases the design and installation costs of the production equipment.

[0005] In order to solve the above technical problems, the utility model provides a handling robot, comprising:

[0006] A column, wherein the column comprises a fixed column and a rotating column, the fixed column is vertically arranged, and the rotating column is coaxially connected to the fixed column and can rotate relative to the fixed column;

[0007] A mechanical arm, the mechanical arm comprising a main arm, a secondary arm and a rotating arm, wherein the middle position of the main arm is rotatably connected to an end of a rotating column away from a fixed column, and the main arm rotates in a vertical plane around a rotation connection point between the main arm and the rotating column; one end of the secondary arm is rotatably connected to one end of the main arm, and the secondary arm rotates in a horizontal plane around a rotation connection point between the main arm and the secondary arm; one end of the rotating arm is rotatably connected to an end of the secondary arm away from the main arm, and the rotating arm rotates around a rotation connection point between the secondary arm and the secondary arm;

[0008] A clamping jaw, the clamping jaw being rotatably connected to an end of the rotating arm away from the auxiliary arm;

[0009] A driving source, the driving source comprising a first driving source and a second driving source, the first driving source being used to drive the main arm to rotate, and the second driving source being used to drive the clamping claw to rotate;

[0010] A handle is connected to the rotating arm.

[0011] In one embodiment of the utility model, the clamp includes a gripper and a third driving source, the gripper includes a substrate and a clamping arm, a base is vertically connected to one surface of the substrate, an auxiliary clamping piece is provided at the end of the base away from the substrate, a slider located between the substrate and the auxiliary clamping piece is slidably connected to the substrate, two clamping arms are symmetrically provided and are respectively located on both sides of the auxiliary clamping piece, one end of the two clamping arms is rotatably connected to the base on the side close to the substrate, and the middle positions of the two clamping arms are rotatably connected to connecting rods, the ends of the connecting rods away from the clamping arms are rotatably connected to the slider, the third driving source is connected to the substrate, the third driving source is rotatably connected to the rotating arm, and the output end of the third driving source is connected to the slider and drives it to slide between the substrate and the auxiliary clamping piece.

[0012] In one embodiment of the present invention, a clamping portion bent toward the other clamping arm is provided at one end of the clamping arm away from the base plate, and a notch is provided at one end of the auxiliary clamping member away from the base plate.

[0013] In one embodiment of the utility model, it includes a first brake assembly, which includes a first brake disc and a first brake drive source. The first brake disc is an annular structure, and the first brake disc is coaxially arranged on the fixed column. The first brake drive source is connected to the rotating column and its output end faces the first brake disc.

[0014] In one embodiment of the utility model, it includes a second brake assembly, which includes a second brake disc and a second brake drive source. The second brake disc is an annular structure, and the second brake disc is arranged on one end where the auxiliary arm is connected to the main arm. The second brake drive source is connected to the main arm and its output end faces the second brake disc.

[0015] In one embodiment of the utility model, a third brake assembly is included, wherein the third brake assembly includes a third brake disc and a third brake drive source, wherein the third brake disc is an annular structure, and the third brake disc is arranged on one end where the auxiliary arm is connected to the rotating arm, and the third brake drive source is connected to the rotating arm and its output is directed toward the third brake disc.

[0016] In one embodiment of the utility model, it also includes a controller, which is respectively connected to the first driving source, the second driving source, the third driving source, the first brake driving source, the second brake driving source and the third brake driving source, and the controller is also connected to a control switch, which is installed on the handle.

[0017] In one embodiment of the present utility model, a first mounting seat is vertically connected to the side surface of the rotating column, and the tail stock of the first driving source is rotatably connected to the first mounting seat.

[0018] In one embodiment of the present invention, a counterweight is further provided at one end of the main arm away from the auxiliary arm.

[0019] A handling system comprises a handling robot as described in any one of the above items.

[0020] The above technical solution of the utility model has the following advantages compared with the prior art:

[0021] The utility model discloses a handling robot and a handling system, comprising a column, which comprises a fixed column and a rotating column, the rotating column is coaxially connected to the fixed column and can rotate relative to the fixed column; a robot arm, which comprises a main arm, a secondary arm and a rotating arm, the middle position of the main arm is rotatably connected to the rotating column, the main arm rotates in a vertical plane around a rotating connection point between it and the rotating column, one end of the secondary arm is rotatably connected to one end of the main arm, the secondary arm rotates in a horizontal plane around a rotating connection point between it and the main arm, one end of the rotating arm is rotatably connected to an end of the secondary arm away from the main arm, and the rotating arm rotates around its rotating connection point with the secondary arm; a clamping claw, which is rotatably connected to an end of the rotating arm away from the secondary arm; a driving source, which comprises a first driving source and a second driving source respectively used to drive the main arm and the clamping claw to rotate around their respective rotating connection points; a handle, which is connected to the rotating arm. The handling manipulator uses the cooperation of the rotating column, main arm, auxiliary arm and rotating arm structure to make the clamping claws adjustable with multiple degrees of freedom, which is convenient for the operator to move the clamping claws to the predetermined position for transportation; and the clamping claws are set as a flippable structure, which can adapt to the clamping and transportation of materials at different placement angles. The entire handling manipulator has a simple structure, is easy to install and maintain, and has high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0023] Figure 1 This is a schematic diagram of a handling robot clamping a workpiece in a preferred embodiment of the utility model;

[0024] Figure 2It is a three-dimensional diagram of a handling manipulator of a preferred embodiment of the utility model;

[0025] Figure 3 yes Figure 2 An enlarged view of part A of the handling robot is shown;

[0026] Figure 4 This is a schematic diagram of the overall structure of a handling robot according to a preferred embodiment of the utility model;

[0027] Figure 5 It is a schematic diagram of the overall structure of the gripper of the handling robot in the preferred embodiment of the utility model;

[0028] Figure 6 It is a schematic diagram of the internal structure of the gripper of the handling robot according to the preferred embodiment of the utility model.

[0029] Explanation of the reference numerals in the specification: 1. column; 11. fixed column; 12. rotating column; 2. mechanical arm; 21. main arm; 22. auxiliary arm; 23. rotating arm; 24. swing arm; 3. clamping claw; 31. gripper; 311. substrate; 312. clamping arm; 313. base; 314. auxiliary clamping member; 315. slider; 316. connecting rod; 32. third driving source; 4. driving source; 41. first driving source; 42. second driving source; 5. handle; 6. first brake assembly; 61. first brake disc; 62. first brake driving source; 7. second brake assembly; 8. third brake assembly; 9. control switch. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0031] Embodiment 1

[0032] Reference Figure 1-Figure 6 As shown, a handling robot of the utility model comprises:

[0033] The column 1 comprises a fixed column 11 and a rotating column 12. The fixed column 11 is vertically arranged, and the rotating column 12 is coaxially connected to the fixed column 11 and can rotate relative to the fixed column 11;

[0034] The mechanical arm 2 comprises a main arm 21, a secondary arm 22 and a rotating arm 23. The middle part of the main arm 21 is rotatably connected to one end of the rotating column 12 away from the fixed column 11, and the main arm 21 rotates in a vertical plane around the rotation connection point between the main arm 21 and the rotating column 12; one end of the secondary arm 22 is rotatably connected to one end of the main arm 21, and the secondary arm 22 rotates in a horizontal plane around the rotation connection point between the main arm 21 and the secondary arm 22; one end of the rotating arm 23 is rotatably connected to one end of the secondary arm 22 away from the main arm 21, and the rotating arm 23 rotates around the rotation connection point between the secondary arm 22 and the secondary arm 22;

[0035] The clamping jaw 3 is rotatably connected to an end of the rotating arm 23 away from the auxiliary arm 22;

[0036] A driving source 4, the driving source 4 comprises a first driving source 41 and a second driving source 42, the first driving source 41 is used to drive the main arm 21 to rotate, and the second driving source 42 is used to drive the clamping jaw 3 to rotate;

[0037] The handle 5 is connected to the rotating arm 23 .

[0038] Specifically, the column 1 is mainly used for bearing, and the entire structure can be swung horizontally by rotating the column 12; the first driving source 41 lifts and lowers the auxiliary arm 22 located at the other end of the main arm 21 at one end of the main arm 21, and cooperates with the auxiliary arm 22 to perform horizontal rotation (or swing) to realize the multi-degree-of-freedom movement of the clamp 3 at the front end of the manipulator; and the rotating arm 23 that can rotate on the auxiliary arm 22 is used to increase the function of small-range rotation of the clamp 3, thereby further improving the degree of freedom of the manipulator; at the same time, the second driving source 42 can also drive the clamp 3 to flip (for example, a 90-degree overall flip), so that the clamp 3 can adapt to the clamping and transportation of materials at different placement angles.

[0039] Moreover, based on the above-mentioned mechanism, the transport robot is also provided with a plurality of brake assemblies, so that the staff can fix the rotating column 12, auxiliary arm 22 and rotating arm 23 after swinging the robot to a predetermined posture, thereby avoiding the occurrence of mechanism swinging when the driving source is running, ensuring the smooth progress of the transfer work while ensuring the safety of the operator.

[0040] Reference Figure 5 and Figure 6As shown, further, the clamp 3 includes a gripper 31 and a third driving source 32, the gripper 31 includes a substrate 311 and a clamping arm 312, a base 313 is vertically connected to one surface of the substrate 311, an auxiliary clamping member 314 is arranged at one end of the base 313 away from the substrate 311, a slider 315 is slidably connected to the substrate 311 and is located between the substrate 311 and the auxiliary clamping member 314, two clamping arms 312 are symmetrically arranged and are respectively located on both sides of the auxiliary clamping member 314, one end of the two clamping arms 312 is rotatably connected to the base 313 on the side close to the substrate 311, and the middle positions of the two clamping arms 312 are rotatably connected to a connecting rod 316, and the end of the connecting rod 316 away from the clamping arm 312 is rotatably connected to the slider 315, the third driving source 32 is connected to the substrate 311, the third driving source 32 is rotatably connected to the rotating arm 23, and the output end of the third driving source 32 is connected to the slider 315 and drives it to slide between the substrate 311 and the auxiliary clamping member 314. Specifically, one end of the rotating arm 23 away from the auxiliary arm 22 is connected to the swing arm 24, the middle position of the swing arm 24 is rotatably connected to the rotating arm 23, the third driving source 32 is connected to one end of the swing arm 24, the second driving source 42 is movably connected to the side of the rotating arm 23, and the output end of the second driving source 42 is connected to one end of the swing arm 24 away from the third driving source 32. The second driving source 42 can drive the clamping jaw 3 on the swing arm 24 to swing in a vertical plane.

[0041] Specifically, when the third driving source 32 pushes the slider 315 to move toward the auxiliary clamping member 314, the slider 315 drives one end of the connecting rod 316 that is rotatably connected to it to move, thereby pushing the two clamping arms 312 that are rotatably connected to the other end of the connecting rod 316 to rotate around their respective rotational connection points with the base 313 in directions away from each other (i.e., the two clamping arms 312 open); and when the third driving source 32 drives the slider 315 to move toward the base plate 311, the slider 315 drives the two clamping arms 312 through the connecting rod 316 to rotate around their respective rotational connection points with the base 313 in directions approaching each other (i.e., the two clamping arms 312 close), and at the same time cooperates with the auxiliary clamping member 314 located between the two clamping arms 312 to clamp and fix the camshaft.

[0042] Furthermore, one end of the clamp arm 312 away from the base plate 311 is provided with a clamping portion bent toward the other clamp arm 312, and one end of the auxiliary clamping member 314 away from the base plate 311 is provided with a notch. It can be imagined that the clamping portion and the notch cooperate with each other to improve the stability of the clamping jaw 3 when clamping the camshaft.

[0043] Reference Figure 2 and Figure 3As shown, further, it includes a first brake assembly 6, the first brake assembly 6 includes a first brake disc 61 and a first brake drive source 62, the first brake disc 61 is an annular structure, the first brake disc 61 is coaxially arranged on the fixed column 11, the first brake drive source 62 is connected to the rotating column 12 and its output end faces the first brake disc 61.

[0044] Furthermore, it includes a second brake assembly 7, which includes a second brake disc and a second brake drive source. The second brake disc is an annular structure, and the second brake disc is arranged on one end where the auxiliary arm 22 is connected to the main arm 21. The second brake drive source is connected to the main arm 21 and its output end faces the second brake disc.

[0045] Furthermore, it includes a third brake assembly 8, which includes a third brake disc and a third brake drive source. The third brake disc is an annular structure, and the third brake disc is arranged on one end where the auxiliary arm 22 is connected to the rotating arm 23. The third brake drive source is connected to the rotating arm 23 and its output is directed toward the third brake disc.

[0046] More preferably, the output shafts of the first brake drive source 62, the second brake drive source and the third brake drive source are all provided with brake parts like tendon rods, which can better cooperate with each brake disc to achieve a stable braking function.

[0047] Furthermore, a controller is included, which is respectively connected to the first driving source 41, the second driving source 42, the third driving source 32, the first brake driving source, the second brake driving source and the third brake driving source, and the controller is also connected to a control switch 9, which is installed on the handle 5. When the staff holds the handle 5 to operate the manipulator, the control switch 9 provided on the handle 5 can be used to control each brake component and the driving source.

[0048] Furthermore, a first mounting seat is vertically connected to the side surface of the rotating column 12, and the tailstock of the first driving source 41 is rotatably connected to the first mounting seat.

[0049] Furthermore, a counterweight is provided at one end of the main arm 21 away from the auxiliary arm 22, and the counterweight can assist the main arm 21 in performing the lifting action better.

[0050] Embodiment 2

[0051] The utility model also discloses a transport system, comprising the transport manipulator as in the first embodiment.

[0052] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A handling robot, characterized in that: include: A column, wherein the column comprises a fixed column and a rotating column, the fixed column is vertically arranged, and the rotating column is coaxially connected to the fixed column and can rotate relative to the fixed column; A mechanical arm, the mechanical arm comprising a main arm, a secondary arm and a rotating arm, wherein the middle position of the main arm is rotatably connected to an end of a rotating column away from a fixed column, and the main arm rotates in a vertical plane around a rotation connection point between the main arm and the rotating column; one end of the secondary arm is rotatably connected to one end of the main arm, and the secondary arm rotates in a horizontal plane around a rotation connection point between the main arm and the secondary arm; one end of the rotating arm is rotatably connected to an end of the secondary arm away from the main arm, and the rotating arm rotates around a rotation connection point between the secondary arm and the secondary arm; A clamping jaw, the clamping jaw being rotatably connected to an end of the rotating arm away from the auxiliary arm; A driving source, the driving source comprising a first driving source and a second driving source, the first driving source being used to drive the main arm to rotate, and the second driving source being used to drive the clamping claw to rotate; a handle connected to the rotating arm; The clamping claw comprises a gripper and a third driving source, the gripper comprises a substrate and a clamping arm, a surface of the substrate is vertically connected with a base, an end of the base away from the substrate is provided with an auxiliary clamping piece, a slider located between the substrate and the auxiliary clamping piece is slidably connected to the substrate, two clamping arms are symmetrically provided and are respectively located on both sides of the auxiliary clamping piece, one end of the two clamping arms is rotatably connected to the base on a side close to the substrate, and a connecting rod is rotatably connected to the middle position of the two clamping arms, and the end of the connecting rod away from the clamping arm is rotatably connected to the slider, the third driving source is connected to the substrate, the third driving source is rotatably connected to the rotating arm, and the output end of the third driving source is connected to the slider and drives it to slide between the substrate and the auxiliary clamping piece; The end of the clamping arm away from the base plate is provided with a clamping portion bent toward the other clamping arm, and the end of the auxiliary clamping member away from the base plate is provided with a notch; Also included are multiple sets of brake assemblies.

2. The handling robot according to claim 1, characterized in that: It includes a first brake assembly, which includes a first brake disc and a first brake drive source. The first brake disc is an annular structure, and the first brake disc is coaxially arranged on the fixed column. The first brake drive source is connected to the rotating column and its output end faces the first brake disc.

3. The handling robot according to claim 2, characterized in that: It includes a second brake assembly, which includes a second brake disc and a second brake drive source. The second brake disc is an annular structure. The second brake disc is arranged on one end where the auxiliary arm is connected to the main arm. The second brake drive source is connected to the main arm and its output end faces the second brake disc.

4. The handling robot according to claim 3, characterized in that: It includes a third brake assembly, which includes a third brake disc and a third brake drive source. The third brake disc is an annular structure. The third brake disc is arranged on one end where the auxiliary arm is connected to the rotating arm. The third brake drive source is connected to the rotating arm and its output is directed toward the third brake disc.

5. The handling robot according to claim 4, characterized in that: It also includes a controller, which is respectively connected to the first driving source, the second driving source, the third driving source, the first brake driving source, the second brake driving source and the third brake driving source, and the controller is also connected to a control switch, which is installed on the handle.

6. The handling robot according to claim 1, characterized in that: A first mounting seat is vertically connected to the side surface of the rotating column, and the tailstock of the first driving source is rotatably connected to the first mounting seat.

7. The handling robot according to claim 1, characterized in that: A counterweight is also provided at one end of the main arm away from the auxiliary arm.

8. A handling system, characterized in that: It comprises a handling robot as described in any one of claims 1 to 7.

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